and then construct the Hermite polynomials by taking into accounts points \(x_i(k)\)  and their derivatives \(x_i^{^{\prime }}(k)\) , \(i=1,\ldots ,s\) . In our current implementation we use two vectors (and their corresponding derivatives) to build the polynomial approximation to vector \(x\)  on the time interval \([t(k),t(k) + h(k)]\)  ([1]}):
\(x(t) & = & (2\tau ^3-3\tau ^2+1)x(k) + h(k) (\tau ^3-2\tau ^2+\tau ) x^{^{\prime }}(k) + \nonumber \\& & (-2\tau ^3+3\tau ^2) x_s(k) + h(k) (\tau ^3-\tau ^2)x_s^{^{\prime }}(k),\) 
